Annu Int Conf IEEE Eng Med Biol Soc. 2022 Jul;2022:4342-4345. doi: 10.1109/EMBC48229.2022.9871441.
Human body movement occurs as a result of a coordinated effort between the skeleton, muscles, tendons, ligaments, cartilage, and other connective tissue. The study of movement is crucial in the treatment of some neurological and musculoskeletal diseases. The advancement of science and technology has led to the development of musculoskeletal model simulation software such as OpenSim that plays a very significant role in tackling complex bioengineering challenges and assists in our understanding of human movement. Such biomechanical models of musculoskeletal systems may also facilitate medical decision-making. Through fast and accurate calculations, OpenSim modelling enables prediction and visualisation of motion problems. OpenSim has been used in many studies to investigate and assess movements of the upper limb under various scenarios. This work investigates elbow movement of a paretic arm wearing a myoelectric robotic exoskeleton. The simulation focuses on the exoskeleton elbow joint with one degree of freedom for individuals that we have developed to support and rehabilitate a weakened/paretic arm due to a spinal cord injury for example. Accordingly, it simulates the kinematic characteristics of the human arm whilst the exoskeleton assists the arm flexion/extension to maximise its range of motion. To obtain the motion data required for this study, a forward dynamics method must be implemented. Firstly, inverse kinematics is applied to the joint angles, and then, the torque and force required for angular motion of the elbow joint are calculated using forward dynamics. The results show that the muscle forces required to generate an elbow flexion are considerably less when the exoskeleton is worn. Clinical Relevance--- The exoskeleton assists patients to extend and flex their arm, thus supporting rehabilitation and arm function during activities of daily living. Exoskeleton movement is derived from residual myoelectric signals extracted from the patient's arm muscles. Modelling the dynamics and kinematics of the arm with the exoskeleton can reveal and predict any movement issues that need to be addressed.
人体运动是骨骼、肌肉、肌腱、韧带、软骨和其他结缔组织协调作用的结果。运动研究对于治疗一些神经和肌肉骨骼疾病至关重要。科学技术的进步导致了肌肉骨骼模型模拟软件的发展，如 OpenSim，它在解决复杂的生物工程挑战方面发挥着非常重要的作用，并帮助我们理解人类运动。这种肌肉骨骼系统的生物力学模型也可以辅助医学决策。通过快速准确的计算，OpenSim 建模可以预测和可视化运动问题。OpenSim 已在许多研究中用于研究和评估上肢在各种情况下的运动。本工作研究了佩戴肌电机器人外骨骼的偏瘫手臂的肘部运动。该模拟专注于外骨骼的肘关节，具有一个自由度，我们开发了这个自由度来为因脊髓损伤等原因而导致的虚弱/偏瘫手臂提供支撑和康复。因此，它模拟了人类手臂的运动学特征，同时外骨骼辅助手臂弯曲/伸展以最大限度地增加其运动范围。为了获得本研究所需的运动数据，必须实施正向动力学方法。首先，将逆运动学应用于关节角度，然后使用正向动力学计算肘部关节角运动所需的扭矩和力。结果表明，当外骨骼佩戴时，产生肘部弯曲所需的肌肉力量明显减少。临床相关性——外骨骼帮助患者伸展和弯曲手臂，从而在日常生活活动中支持康复和手臂功能。外骨骼运动源自从患者手臂肌肉中提取的残留肌电信号。通过对带外骨骼的手臂的动力学和运动学进行建模，可以揭示和预测需要解决的任何运动问题。
